Self-balancing translation system



July 8, 1947. K. RATH 2,423,616

SELF BALANCING TRANSLATION SYSTBI med Feb. 1, 1944 s Sheets-Sheet 1 vvvvvv WVVWW 03cm TOP I F 1 R I: 0mm, 673:2"? T5 Ann/rm! (Known? "Hm,"

INVENTOR.

July 8; 1947. K. RATH s am" mmacme TRANSLATION svswsu Filed Feb. 1, 1944 3 Sheets-Sheet 2 July 8,1947.

n RATH SELF BALANCING TRANSLATION SYSTEM 3 Sheets-Shoat 3 Filed Feb. 1. 1944 INVHVTOR.

Patented July .8, 1947 SELF-BALANCING TRANSLATION SYSTEM Karl Bath, New York, N. Y., assignor to Radio Patents Corporation, New York, N. Y., a corporation of New York 1 Application February 1, 1944, Serial No. 520,636

5 Claims. 1

The present invention relates to follow-up type potentiometric translatin systems for translating or converting variations of an electric or other magnitude of a basic or input device into corresponding variations of a secondary or output device, such as an indicator, recorder, automatic control device or the like.

Arrangements .of this type essentially comprise a basic element such as a sensitive galvanometer to produce a movement in proportion to variations of a weak electric current, a relatively heavy secondary or output element such as an electro-magnetic indicator or recorder to be operated in accordance with the input magnitude variations, a balanced electrical system adapted to be unbalanced by an initial, response or deflection of the basic element to produce an off-balance output current suitable for energizing the secondary element, and an inverse feedback arrangement between the secondary and basic elements, whereby to restore and maintain the balance condition in such a manner as to result in a continuous follow-up relation between the basic and secondary elements.

In my co-pending application, Serial No. 504,107, filed November 28, 1943, entitled .Potentiometric amplifier," I have described a system of this type utilizing a frequency balance between a source of operating frequency and a resonant impedance means such as a tuned circuit, piezo-electric crystal and the like to maintain a continuous balance or follow-up relation between the response of the basic and secondary elements such as a sensitive galvanomet-er and electro-magnetic recorder, respectively.

Arrangements of this type are especially suited for indicating or recording extremely small amounts of electrical energy such as supplied by a thermo-electrlc couple, a photo-voltaic cell or any other source supplying minute amounts of electric input potential or current. In orderto restore and maintain the balance, there is provided a small electrical resistance common to the input and output circuits and adapted to produce a compensating potential drop by the output current to buck or neutralize the initial input current variations and to maintain the electric balance of the system. In view of the substantial ratio between the input and output currents, the balancing or feedback resistance assumes extremely small values and difiiculties may arise in the proper adjustment and maintenance of the balance condition due to slight variations in the circuit constants and other parameters of the system. Furthermore, arrangements of this type are limited to the use of basic elements responsive to electric currents or potentials such as a galvanometer or other highly sensitive electrical instrument.

Accordingly, an object of my invention is to provide a system of the above character in which a substantially increased compensating or balanclng potential derived from the output current is used, resulting in improved facilities in adjustment and maintenance of the accuracy of the balance and stability of the system.

Another object is to provide a system of this character which, is not limited to an electrically controlled input or basic element and which can a system of this type utilizing an element of the frequency balancing system such as a variable condenser in mechanical coupling relation with the output element so as to follow the movements of the latter for restoring and maintaining the balance of the system. The present invention is a further development of this idea in substituting purely electrical means for the mechanical c upl g for restoring and maintaining the frequency balance.

Accordingly. a further object of the invention is "to obtain a balancing effect by purely electrical means whereby to avoid mechanical elements and couplings and to provide increased flexibility and adaptability of the system for special purposes and requirements.

With the above obiects in view, the invention generally involves the provision of additional means in the form of a voltage or current controlled electrical reactance such as an electronic reactance tube for restoring and maintaining the frequency balance in response to an off-balance output current or potential, substantially independently of the character and operation of the basic or input element.

These and further objects and aspects of my invention will become more apparent from the followin detailed description taken in reference to the accompanying drawings forming part of this specification and wherein:

Figure 1 is a schematic circuit diagram or an indicating or other translating system embodying the principles of the invention; Figure 2 is a graph explanatory of the function and operation of Figure 1; Figures 3 and 4 are circuit diagrams illustrating, by way of example, practical embodiments of the invention; Figure 5 is a graph explanatory of the function of the discriminator shown in Figure 4; and Figures 6 to 8 illustrate further modified circuit arrangements embodying the principle of the invention Like reference characters identify like parts throughout the difl'erent views of the drawings.

Referring to Figure 1, I have shown at M a basic element in the form of a sensitive galvanometer comprising a moving coil H mounted between magnet coils N and S and having terminals I2 and |3 connected thereto in any suitable manner through flexible conductors such as a pair of torque springs in accordance with the usual construction of devices of this type. Moving coil carries a pointer H to the end of which is attached a metal vane or electrode i5 arranged to cooperate with a fixed electrode |6 to form a variable electrical condenser. This condenser is connected in shunt to the frequency determining element or tank circuit I! of a high frequency oscillator to vary or control the oscillating frequency in accordance with the deflection of the moving coil in response to a varying input current applied to terminals l2 and I3.

This input current may be supplied by a thermo-couple, photovoltaic cell or any other source of weak electric energy. In order to make connection to the movable electrode I5, the latter is connected to a stationary terminal |2' by way of the pointer H and a flexible conductor in a manner indicated and well understood. The tank circuit |1 may be associated with any suitable oscillation sustaining device i8 known in the art such as a negative resistance in the form of a regenerative vacuum tube circuit for generating sustained electrical oscillations having a frequency determined by the resonant frequency of the circuit l1.

In addition to the condenser |5|6 controlled by the deflection of the galvanometer, there is furthermore shunted across the tank circuit an electrically controlled reactance to additionally determine the oscillating frequency and, in the example shown, taking the form of an electronic reactance tube 20 having its input grid excited in a known mariner by an oscillating potential derived from the tank circuit by way of a quadrature phase shift device comprising a resistance 2| in series with 'a condenser 22. A condenser shunted further resistance 23 in the common grid and anode circuit return to the oathode serves to provide a proper grid bias potential for the tube in accordance with standard practice.

The oscillations varying in frequency in accordance with the deflection of the moving coil H, i. e. the instantaneous magnitude of the input current or potential, are applied if desirable byway of an R. F. amplifier 24, to a frequency discriminator or demodulator 25. The discriminator 25 is a device capable of producing a direct output current varying in sense and magnitude in accordance with the relative frequency departure of the input oscillations from a fixed frequency I determ ned by the resonating frequency of a suitcorresponding to the normal or unvaried frequency of the oscillator, the discriminator voltage is zero or may have a constant value and varies in a substantially linear fashion within a given operating range as the operating frequency departs in either sense from the frequency 10 or vice versa as indicated by the frequency departures +d) and di in Figure 2.

The output of the discriminator which, if desirable may be further amplified by means of a direct current amplifier 26, serves to energize a secondary or output element 21 shown as an electro-magnetic recorder in the drawing, but which may be of any other character such as an indicator or the controlling element in an automatic control system. In the example shown,

the recorder or indicator 2! comprises a mov-- ing coil 28 cooperating with a pair of magnet poles N and S and having terminals 30 and 3| connected thereto through flexible conductors in a manner indicated and well known. Moving coil 28 carries a pointer or recording pen 33 arranged to cooperate with a chart 36 moving at a constant speed in the direction of the arrow at so as to result in a permanent record of the pointer deflection. The discriminator output current is furthermore passed through an inverse feedback or compensating resistance 32 to produce a voltage drop varying in accordance with the frequency departure or unbalance of the system and serving to control the reactance tube 20 or other electrically responsive reactance element arranged to restore and maintain the original frequency balance immediately upon an initial unbalance due to an input current variation or initial deflection of the galvanometer l0.

Reactance control tube 20, as pointed out, is excited in a known manner from the oscillator circuit by way of the quadrature phase shift circuit comprising in the resistance 2| in series with a condenser 22 and connected across the tank circuit By proper design of resistance 2| so as to present a high impedance to the oscillations compared with the condenser 22, the current through the circuit 2|, 22 will be in phase with the oscillating current. Accordingly, the potential drop through the condenser 22 applied to the input grid of the tube 20 will lead the current by resulting in a corresponding quadrature plate potential and injection of a virtual reactance into the tank circuit IT. The magnitude of this reactance depends on the mutual conductance of the tube and is controlled in accordance with the discriminator output voltage by connecting the input grid to the compensating resistance 32 in the manner shown. The connections and polarization of the various elements are such that an initial unbalance caused by the condenser 5|G in one sense from the normal or balanced condition will result in a corresponding variation of the reactance of the tube 20 to counteract the unbalance and to restore the balance condition of the system.

Resistance 23 in the common grid and plate circult of the tube 20 serves to provide a steady negative grid bias potential upon which is superimposed the varying positive potential supplied by the resistance 32. By the proper design of the resistances 23 and 32 a correct compensation and frequency balance may be insured. Since the voltage for controlling the grid of tube 20 is of the order of several volts, accurate balance and stability of the balancing operation can be obtained in an efficient and easy manner compared with systems of this type, wherein the balancing resistance is inserted in the input circuit of the galvanometer i and accordingly has to be of an extremely small size. Furthermore, it is under stood that since the balance is eifected in an electrical circuit other than the galvanometer circuit, any other basic element responsive to variations of an input magnitude or condition other than electrical, such as a barometer, thermometer, or in fact any device producing slight mechanical movement, can be employed in connection with the invention.

Referring to Figure 3, I have shown a complete circuit diagram illustrating a practical embodiment of the invention. In this modification, 4D is a triode oscillator of the well known Hartley .type comprising a tank circuit 4i connected between the plate and grid and having a tap of its inductance connected to the cathode, whereby to generate sustained electric oscillations at a frequency determined by the resonating frequency of the circuit 4|. Numeral 42 represents a pentode connected across the tank circuit 4| by way of coupling condenser 43 to act as an electronic reactance for controlling the oscillating frequency. The anode of the reactance tube is connected to asuitable source of plate current supply indicated by the plus symbol in the drawing through a choke coil 44 and to the phase shift circuit 2i, 22 by way of a large coupling condenser 41.

Variable condenser i5l6 associated with the galvanometer i0 is shunted across the tank circuit 4|, whereby to determine the oscillating frequency in a manner understood from the foregoing. The oscillations are applied from the tank circuit H to a frequency discriminator comprising a tuned circuit 50 adjusted to be off resonance with the normal or unmodulated frequency corresponding to the zero or normal position of the galvanometer. In other words, circuit 50 is detuned in such a manner as to operate along one branch of its resonance curve, whereby the oscillations of varying frequency will be converted into oscillations of varying amplitude which latter are rectified by connecting the circuit 50 to the diode section 5|52 of a diode-triode tube 53 through a condenser shunted load resistance 54 in the manner shown and well known. A suit able portion of the rectified voltage is applied to a further potential divider 55 serving to control the amplifier grid 56 and to produce an output current iiowing to the plate 51 and varying in accordance with the oscillator frequency variations.

The plate current serves to energize the moving coil 28 of the recorder 21. For this purpose a plate battery or other source 58 is connected between the plate 5'! and the terminal 3i of the recorder, the remaining terminal 30 being connected to cathode or ground through the feed back or compensating resistance 32. The latter serves to control the grid of the reactance tube 42 in substantially the same manner as de soribed in connection with Figure 1. In order to buck out or balance the steady plate current corresponding to the normal position of the galvanometer, a compensating battery 60 is shown con nected across the recorder .27 or other output device.

The operation of the system is substantially the same as described hereinabove in connection with Figure 1. In the normal position, the moving coils H and 28 of the galvanorneter and recorder will be at rest such as shown in the drawing. If

the galvanometer is deflected in one or the other direction, a corresponding variation of the capacity of condenser I5-l6 will result in a change of the oscillating frequency. This in turn causes exciting current to flow through the moving coil 28 in a definite direction resulting in a deflection of pointer or pen 33 and a corresponding bias potential to be applied to the grid of the reactance tube 42 by the resistance 32.' As a result, the virtual reactance impressed by tube 42 upon the tank circuit 4! will change in such a manner as to counteract the variation of the condenser i5 I 6 in a manner to restore the original balance condition.

If the galvanometer is deflected in the opposite direction, the discriminator output current flowing through the moving coil 28 will also be in the opposite sense and the grid potential of the reactance tube 42 will vary in a corresponding direction so as to again result in a compensation of the initial frequency deviation caused by the galvanometer. As a result of this continuous balancing action, the deflection of the pointer or pen 33 of the recorder 31 will follow the movement of the pointer M of the galvanometer l0 instantly and in direct proportion to the input potential or current energizing the galvanometer.

A. system ofthis type has the advantage over normal amplifiers without feedback or follow-up operation that tube and circuit constants enter only as a secondary function of balancing, so that the system is inherently stable and the amplification substantially linear throughout the entire operating range.

Referring to Figure 4, I have shown a modification of the invention difiering from Figure 3 in the employment of a special type of discriminator and in the control 0f the oscillating frequency by the basic element or galvanometer M. For this purpose, the pointer ll of the galvanometer has attached thereto a plate or screen 6! of highly conductive material nioving adjacent to an inductance coil 62 shunted across the tank circuit ll of the oscillator. In this manner the inductance of the coil 62 may b varied depending on the position of the pointer l4 and resulting in a corresponding variation of the oscillating frequency. If desired, the metal element 6| may be arranged to affect the inductance of the tank circuit 4i directly to dispense with the separate inductance coil 62.

The discriminator or off-balance detector shown in Figure 4 is of the known space charge type comprising a vacuum tube 66 having an inner control grid near ltscathode excited by the oscillating frequency and having an outer control grid 61 near its anode connected 'to ground or cathode through a'discriminatin resonant impedance such as a piezo-electric crystal l0 shunted by a high ohmic resistance II as shown in the drawing. separated from each other by an accelerating or screen grid 68 to produce a concentrated space charge or virtual cathode adjacent to the grid 61 in a manner Well understood by those skilled in the art. In place of the crystal 10, a parallelor series-tuned resonant circuit may be provided in accordance with well known practice.

The function of a discriminator of this type is Grids 65 and 61 are crystal I or a discriminating resonant circuit. As a result of this inter-action, the steady plate current it varies in a manner shown in Figure as a function of the input frequency I. For the unmodulated frequency ft of the latter, corresponding to the resonating frequency of the crystel 10, the plate current has a normal value In equal to the steady plate current present if one of the control grids were omitted and determined by the steady biasing and operating potentials of the tube. If the oscillating frequency deviates in either sense from the normal frequency In. the steady plate current will increase or decrease as shown in Figure 5 resulting in a corresponding excitation of the recorder or other output device 21 in substantially the same manner as described in connection with Figure 3. By bucking out or compensating the normal plate current in by the compensating battery 60 a continuous follow-up relation between the galvanometer input potential and the recorder is obtained, provided that proper design and polarization of the various circuit elements and p eters hav been made to cause the relative frequency departures effected by the galvanometer I0 and the reactance tube 42 in response to an initial deflection of the galvanometer to counteract each other in a manner to restore and maintain the balance condition.

Referring to Figure 6, I have shown a simplified circuit utilizing a combined oscillator and electronic reactance to dispense with a separate reactance control tube. There i shown for this purpose a vacuum tube I5 having an inner control grid 16 followed by a first screen grid IT, a further screen grid I8 and a plate 80. The grids 1B and 11 are part of a standard regenerative feedback oscillator comprising a tank circuit 4i and inductive feedback coil connected to the screen grid 'I'l serving as the oscillator output electrode. In addition to the regular or in-phase feedback for maintaining the oscillations, additional feedback energy supplied by the plate 80 is impressed upon the tank circuit through a suitable phase shift circuit to inject a virtual reactance into the tank circuit for controlling the oscillating frequency. For this purpose, plate 80 is connected to the cathode through a conpling condenser 94 and is furthermore connected to the junction of the resistors 92 and 93 by way of a choke coil 95. The function of this discriminator is based in a known manner upon the varying relative phase shift between the primary and secondary voltages of the transformer 81 as a function of the input frequency, resulting in an output voltage across the free ends of resistances 92 and 93 varying in substantially the same manner as shown in Figure 2. This output voltage is utilized to energize the recorder 21 and to provide the control potential for the reactance control grid 04 of tube 15 by the voltage drop through feedback resistance 32 in a manner substantially similar to and understood from the above.

According to a modification of the invention the reactance variations produced by the basic device or galvanometer may be utilized to control the discriminator circuit and the reactance variations produced by the output device or recorder may serve to control the frequency of the oscillator. In this embodiment, again the design and polarization of the various elements is such that a continuous frequency balance between the oscillating frequency and the resonating frequency of the discriminator is instantly restored and maintained to result in a continuous follow-up relation between the input and output elements;

denser 8| in series with a high ohmic resistance 02 and the junction between the latter is cou- 80 is controlled by an additional control grid 84 located near the plate and biased by the compensating or feedback potential supplied by the resistance 32 in series with the discriminator and moving coil of the recorder 21.

The frequency of the oscillator tank circuit is furthermore controlled in accordance with the capacity changes of the condenser I5I6 associated with the galvanometer I0 in substantially the same manner as described in the preceding illustrations. The oscillations are applied from the tank circuit 4| by way of coupling coil 85 to a stabilized R. F. amplifier 86 the output of which energizes a phase shift type discriminator well known in the art. The latter comprises a resonant transformer 81 having its secondary terminals connected to a pair of serially arranged condenser-shunted load resistors 92 and 93 by way of linear rectifiers such as a pair of diodes 90 and 9|. The center tap of the secondary transformer winding is coupled to the high potential side of the input winding through cou- An arrangement of this latter type is shown in Figure 7 comprising a composite triode-pentode oscillator and discriminator tub I00 including a common cathode IOI, triode grid I02, triode plate I03, inner pentode control grid I00, pentode screen grid I05, outer control grid I08 and pentode plate I01. A conventional oscillator circuit comprising the tank circuit 4| is operatively connected with the triode section of the tube and the pentode section is arranged to act as a space type charge discriminator by a direct internal connection between the oscillator grid I02 and the outer pentode control grid I06 and the provision of a resonant circuit I08 connected between the inner control grid I04 and ground or cathode. This discriminator is substantially similar to the discriminator B6 in Figure 4, with the exception that the crystal I0 is replaced by the resonant circuit I00 as a discriminating or resonant impedance means.

There is furthermore associated with the tank circuit ll an electronic reactance tube 42 arranged and connected in substantially the same manner as described hereinbefore. The variations of the condenser I5-I6 associated with the basic device or galvanometer I0 control the resonant frequency of the discriminating circuit I08 and the feedback or output potential developed by the resistance 32 is arranged to control the reactance tube 42. By the proper design of the circuit constants and parameters, an initial detuning of the discriminator circuit I00 in response to a deflection of the galvanometer I0 will be balanced by a corresponding change of the operating frequency by the reactance tube 42 in a manner to restore and continually maintain the frequency balance between the oscillating frequency and th resonating frequency of the discriminator, whereby again to cause the recorder or indicator to follow exactly the input current variation ap plied to the galvanometer.

As is understood, other electrically controlled reactance devices such as an inductance premagnetized by a direct current and other devices known in the art may be employed for restoring the frequency balance by the discriminator netization winding iii first and second resonant the scope of this invention; arrangement of type utilizing a tank-circuit inductance and pro-magnetization control is shown .in Figure 8. In thelatter, the tank circuit ll of a equivalent oscillator ductance- He provided current within includes an iron core inwith an auxiliary magto produce a definite inductivereactance of the tank circuit ll. An initial deflection of the galvanometer pointer and corresponding variation of the oscillating frevariation of the caresults in a correquen r ra, corresp ndin pacity of condenser il-ll spending increase or decrease, th magnetization current through the winding lli','in such a manner as to readjust the freand understood from the foregoing.

It will be evident from the foregoing that the invention'is not limited to the specific circuits and arrangements of parts and details described herein for illustration, but that underlying novel principle and thought are susceptible of numerous variations and modifications coming within the, broader scope and spirit of the invention as defined in the appended claims. The speciflcationand" drawings are accordingly to be regarded in anillustrative rather than in a limiting-sense.

1. An electrical system comprising a primary element having a movable member, a secondary element having a movable member responsive to and adjustable by and in proportion to an electric control current, an oscillation generator including a first resonant impedance means having a resonating frequency oscillation frequency, a frequency discriminator connected to said oscillator, said frequency discriminator including a resonant impedance means and being adapted to produce a control current varying in sense and magnitude in proportion to the relative frequency departure between the resonating frequencies of said first and second resonant impedance means, means for controlling said secondary element in accordance with said control current, further means associated with said primary element to vary the resonating frequency of one of said impedance means in response to a movement of said first movable member, an electronic reactance tube operatively connected to said oscillation generator, and means to control said reactance tube in accordance with said control current to counteract an initial frequency departure between said impedance means, to thereby restore and maintain a frequency balance between said first and second impedance means and to maintain said secondary element in a substantially instantaneously and continuousiy balanced follow-up relation with said primary element.

2. An electrical system comprising a primary element having a movable member, a secondary element having a movable member responsive to and adjustable by and in proportion to an electric control current, an oscillation generator comprising a first resonant impedance means having a resonant frequency determinative of the oscillation frequency, a phase-shift type frequency discriminator connected to said generator comprising a second resonant impedance means and adapted toproduce control current varying in sense and magnitude in proportion to the destandard regenerative or respectively. of

parture of the oscillation frequency from the resonating frequency of said second resonant impedance means. a reactance element forming an effective tuning element of said second resonant impedance means and adiustable in respon e o I meansforcontrolling said secondary element in accordance with said control current, tronicreactance tube arranged to form an effectiv tuning element ofsaid oscillation generator and means to control said reactance tube in accordance with said control current. the frequency changes caused by said primary element and by said reactance tube in response to an initial movement of said nrst movable member counteracting each other, to thereby restore the balance between the oscillation frequency and the resonating frequency of said second resonant im-, pedance means and to maintain said secondary element in a continuously and substantially instantaneously balanced follow-up relation with the movement of said primary element.

3. An electrical system comprising a primary element having a movablemember, a secondary element having a movable member responsive to and adjustable by and in proportion to an electric control current. an oscillation generator comprising a resonant tank circuit having a resonating frequency determinative of the frequency of the oscillations produced, a frequency discriminator connected to said generator comprising resonant impedance means a control current varying in sense and magnitude in accordance with the relative frequency departure in respect to a normal frequency balance between the oscillation frequency and the resonating frequency of said impedance means,

determinative of the means for controlling said secondary element in accordance with said control current, a reactance element adJustable in response to a movement of said primary element and operatively associated with said tank circuit to vary the oscillation frequency, an electronic reactance tube operatively associated with said tank circuit to additionally vary the oscillation frequency, means to control said reactance tube in response to variations of said output current, the oscillation frequency changes eflected by said reactance element and said reactance tube in response to an initial movement of said primary element counteracting each other, to thereby restore said frequency balance and to maintain said secondary element in a continuously and substantiallysinstantaneously balanced follow-up relation with said primary element.

4. An electrical system comprising an electrical instrument having a movable member, an oscillation generator comprising a resonant tank circuit having a resonant frequency determinative of th oscillation frequency, ment forming an effective tuning element of said tank circuit and adjustable in response to a defiection of said instrument, an electronic reactance tube operatively connected to said tank circult; to control the oscillation frequency, an output device having a movable member adjustable by and in proportion to an electric control current, a phase-shift type frequency discriminator connected to said generator comprising a resonant impedance means and adapted to produce a control current varying in sense and magnitude in respect to a normal frequency balance in proportion to the relative frequency departure between the oscillation frequency and the resonating frequency of said impedance means,

a movement of said primary element;

an elecand adapted to producea reactance element and said reactance tube in response to an initial deflection oi said instrument counteracting each other, to thereby restore said frequency balance and to maintain said output device in a continuously "and substantially instantaneously balanced follow-up relation with said instrument. Y

5. An electrical system comprising an electrical instrument having a movable member. an oscillation generator comprising a resonant tank circuit having a resonant frequency determinative oi the oscillation irequency, an electronic reactance tube operatively connected to said tank circuit to control the oscillation frequency, an output device having a movable member adjustable by and in proportion to an electric control current, a phase-shirt type irequency discriminator connected to said generator comprising resonant impedance means and adapted to produce a control current varying in sense and magnitude in respect to a normal irequency balance in proportion to the relative frequency departure between the oscillation irequency and the resonating frequency oi said impedance means, means for controlling said output device in accordance with said control current, a reactance element iorming an eiiective tuning element of 12 said impedance means and adjustable in response to a deflection or said instrument. means to derive a control potential from said output current tor controlling said reactance tube. the frequency changes effected by said reactance tube and JIM reactance element in response to an initial flection or said instrument counteracting each other, to thereby restore. said frequency balance andtomaintainsaidoutput deviceinaemiinuously and substantially instantaneously balanced follow-up relation with said instrument.

KARL RATE.

REFERENCES CITED Theioiiowingreierenoesareoirecord intha file of this patent:

- UNITED BTA'I'IB PA'I'II'I'B Number 

